gomaomao/DIY-Multiprotocol-TX-Module
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Fixed telemetry errors in Hub and Sport telemetry

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midelic 2016-08-12 01:59:15 +03:00 committed by GitHub
parent 417e63e658
commit 3b3a848553
1 changed files with 23 additions and 12 deletions
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31
Multiprotocol/Multiprotocol.ino
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@ -95,7 +95,7 @@ volatile uint16_t PPM_data[NUM_CHN];
// Serial variables // Serial variables
#define RXBUFFER_SIZE 25 #define RXBUFFER_SIZE 25
#define TXBUFFER_SIZE 20 #define TXBUFFER_SIZE 32
volatile uint8_t rx_buff[RXBUFFER_SIZE]; volatile uint8_t rx_buff[RXBUFFER_SIZE];
volatile uint8_t rx_ok_buff[RXBUFFER_SIZE]; volatile uint8_t rx_ok_buff[RXBUFFER_SIZE];
volatile uint8_t tx_buff[TXBUFFER_SIZE]; volatile uint8_t tx_buff[TXBUFFER_SIZE];
@ -347,9 +347,11 @@ void loop()
{ {
for(uint8_t i=0;i<NUM_CHN;i++) for(uint8_t i=0;i<NUM_CHN;i++)
{ // update servo data without interrupts to prevent bad read in protocols { // update servo data without interrupts to prevent bad read in protocols
uint16_t temp_ppm ;
cli(); // disable global int cli(); // disable global int
Servo_data[i]=PPM_data[i]; temp_ppm = PPM_data[i] ;
sei(); // enable global int sei(); // enable global int
Servo_data[i]=PPM_data[i];
} }
update_aux_flags(); update_aux_flags();
PPM_FLAG_off; // wait for next frame before update PPM_FLAG_off; // wait for next frame before update
@ -437,8 +439,10 @@ static void CheckTimer(uint16_t (*cb)(void))
#else #else
if( (TIFR1 & (1<<OCF1A)) != 0) if( (TIFR1 & (1<<OCF1A)) != 0)
{ {
uint16_t temp ;
temp = TCNT1 ;
cli(); // disable global int cli(); // disable global int
OCR1A=TCNT1; // Callback should already have been called... Use "now" as new sync point. OCR1A=temp; // Callback should already have been called... Use "now" as new sync point.
sei(); // enable global int sei(); // enable global int
} }
else else
@ -451,8 +455,9 @@ static void CheckTimer(uint16_t (*cb)(void))
while(next_callback>4000) while(next_callback>4000)
{ // start to wait here as much as we can... { // start to wait here as much as we can...
next_callback=next_callback-2000; next_callback=next_callback-2000;
cli(); // disable global int
#ifdef XMEGA #ifdef XMEGA
cli(); // disable global int
TCC1.CCA +=2000*2; // set compare A for callback TCC1.CCA +=2000*2; // set compare A for callback
TCC1.INTFLAGS = TC1_CCAIF_bm ; // clear compare A=callback flag TCC1.INTFLAGS = TC1_CCAIF_bm ; // clear compare A=callback flag
sei(); // enable global int sei(); // enable global int
@ -460,12 +465,14 @@ static void CheckTimer(uint16_t (*cb)(void))
#else #else
OCR1A+=2000*2; // clear compare A=callback flag OCR1A+=2000*2; // clear compare A=callback flag
#if defined STM32_board #if defined STM32_board
cli();
TIMER2_BASE->CCR1=OCR1A; TIMER2_BASE->CCR1=OCR1A;
TCNT1 = TIMER2_BASE->CNT; TCNT1 = TIMER2_BASE->CNT;
TIMER2_BASE->SR &= ~TIMER_SR_CC1IF; //clear compare Flag TIMER2_BASE->SR &= ~TIMER_SR_CC1IF; //clear compare Flag
sei(); sei();
while((TIMER2_BASE->SR &TIMER_SR_CC1IF)==0);//2ms wait while((TIMER2_BASE->SR &TIMER_SR_CC1IF)==0);//2ms wait
#else #else
cli();
TIFR1=(1<<OCF1A); // clear compare A=callback flag TIFR1=(1<<OCF1A); // clear compare A=callback flag
sei(); // enable global int sei(); // enable global int
while((TIFR1 & (1<<OCF1A)) == 0); // wait 2ms... while((TIFR1 & (1<<OCF1A)) == 0); // wait 2ms...
@ -473,23 +480,27 @@ static void CheckTimer(uint16_t (*cb)(void))
#endif #endif
} }
// at this point we have between 2ms and 4ms in next_callback // at this point we have between 2ms and 4ms in next_callback
cli(); // disable global int // disable global int
#ifdef XMEGA #ifdef XMEGA
cli();
TCC1.CCA +=next_callback*2; // set compare A for callback TCC1.CCA +=next_callback*2; // set compare A for callback
TCC1.INTFLAGS = TC1_CCAIF_bm ; // clear compare A=callback flag TCC1.INTFLAGS = TC1_CCAIF_bm ; // clear compare A=callback flag
diff=TCC1.CCA-TCC1.CNT; // compare timer and comparator diff=TCC1.CCA-TCC1.CNT; // compare timer and comparator
sei(); sei();// enable global int
// enable global int
#else #else
OCR1A+=next_callback*2;
#if defined STM32_board #if defined STM32_board
TIMER2_BASE->CCR1 = OCR1A; OCR1A+=next_callback*2;
cli();
TIMER2_BASE->CCR1 = OCR1A;
TCNT1 = TIMER2_BASE->CNT; TCNT1 = TIMER2_BASE->CNT;
TIMER2_BASE->SR &= ~TIMER_SR_CC1IF;//clear compare Flag write zero TIMER2_BASE->SR &= ~TIMER_SR_CC1IF;//clear compare Flag write zero
diff=OCR1A-TCNT1; // compare timer and comparator diff=OCR1A-TCNT1; // compare timer and comparator
sei(); sei();
#else #else
OCR1A+=next_callback*2; // set compare A for callback next_callback *= 2 ;
next_callback += OCR1A ;
cli();
OCR1A=next_callback; // set compare A for callback
TIFR1=(1<<OCF1A); // clear compare A=callback flag TIFR1=(1<<OCF1A); // clear compare A=callback flag
diff=OCR1A-TCNT1; // compare timer and comparator diff=OCR1A-TCNT1; // compare timer and comparator
sei(); // enable global int sei(); // enable global int